An underwater dredging operation robot for urban pipelines

Abstract

The application discloses an underwater dredging operation robot for urban pipelines, which comprises an operation unit and a vehicle body unit; the operation unit comprises a reamer, a bucket, a spade, an upper side jet pump, a left side jet pump, a right side jet pump and an air pump; the reamer is located inside the bucket; the spade is installed at the front end of the bottom of the bucket; the reamer, the spade and the bucket are integrally installed on the vehicle body unit; the upper side jet pump, the left side jet pump and the right side jet pump are respectively installed on the upper side, the left side and the right side of the vehicle body unit; and the air pump is installed on the bottom of the vehicle body unit; the vehicle body unit comprises a sonar, a camera and an illumination device, a motion assembly and a controller; the motion assembly is located below the vehicle body; the controller communicates with the sonar and the motion assembly; the camera and the illumination device enable the robot to work in a visual environment; and the controller is used for controlling the motion assembly to make the height of the chassis of the vehicle body unit higher than the height of an obstacle and controlling the motion speed of the motion assembly. The application avoids waste of water resources and is high in safety.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of urban pipeline dredging, and more particularly relates to an underwater dredging operation robot for urban pipelines. BACKGROUND

[0002] Pipeline dredging is to dredge the pipeline, clean the silt in the pipeline, and keep it unblocked for a long time to prevent urban waterlogging. Pipeline dredging has become an important work that cannot be ignored by the drainage department. A large amount of sundries and cement sand deposited and accumulated in the drainage pipeline will cause pipeline blockage. If pipeline dredging is not performed, sewage will flow indiscriminately, pollute the environment, and cause trouble to people's life.

[0003] The existing dredging equipment is mainly divided into high-pressure water jet method and winch dredging method.

[0004] The high-pressure water jet method is one of the widely used dredging methods. A high-pressure water jet vehicle is used, which is equipped with a large water tank, a high-pressure water pump, a motorized pipe reel, a water jet nozzle, etc. During operation, the high-pressure pump is driven by the engine of a car, and the water is pressurized and sent to the water jet nozzle. The reaction force generated by the backward jet of the water jet nozzle makes the water jet nozzle and the rubber pipe move in the opposite direction, and the pipe wall is also cleaned at the same time. When the nozzle reaches the downstream inspection well, the motorized winch retracts the hose, and the water jet nozzle continues to jet water flow to flush the residual sediment to the downstream inspection well, which is then sucked away by the suction truck. The disadvantage is that it takes a long time, the sediment particles mixed in the high-pressure water jet have a non-negligible impact on the pipe wall, and this method will cause a large waste of water resources.

[0005] The winch dredging method generally uses bamboo pieces to pass through the pipeline that needs to be dredged, and then uses the winch at the inspection well at both ends of the pipeline to reciprocally twist the steel wire rope, so that the accumulated material is pushed into the downstream inspection well by the dredging tool. The winch is motorized, manual, and electric, and the dredging tool has many types, which are selected according to the size of the pipe diameter and the needs of the user. The disadvantage is that the bamboo pieces need to be manually lowered into the well from one well to the other, and the very poor working environment in the well brings great inconvenience to the work and is more likely to cause safety accidents.

[0006] Therefore, the prior art has the technical problems of causing waste of water resources, great limitation, and low safety factor. SUMMARY

[0007] In view of the above defects or improvement needs of the prior art, the present application provides an underwater dredging operation robot for urban pipelines, thereby solving the technical problems of causing waste of water resources, great limitation, and low safety factor in the prior art.

[0008] To achieve the above object, according to one aspect of the present application, a kind of underwater dredging operation robot for urban pipeline, comprising: operation unit and car body unit;

[0009] The operation unit includes: reamer, bucket, shovel, upper side jet pump, left side jet pump, right side jet pump and air pump, the reamer is located in the bucket, the shovel is installed at the bottom of the bucket front end, the reamer, the shovel, the bucket are installed on the car body unit as a whole, the upper side jet pump, the left side jet pump and the right side jet pump are installed on the upper side, left side and right side of the car body unit, and the air pump is installed on the bottom of the car body unit, and the air pump is used to replace water spray with air spray when the water depth in the urban pipeline is less than the preset value (0.1 times pipeline diameter-0.2 times pipeline diameter) to carry out the cleaning work.

[0010] The car body unit includes: sonar, camera and lighting equipment, motion assembly and controller, the motion assembly is located below the car body, and the controller communicates with the sonar and the motion assembly;

[0011] The sonar is used to detect the characteristics of obstacles and height underwater;

[0012] The camera and lighting equipment are used to illuminate the working environment when the robot works, and the working environment is photographed, so that the robot works in the visual environment;

[0013] The controller is used to control the motion assembly to make the chassis height of the car body unit higher than the height of the obstacle after receiving the characteristics of the obstacle and the height, and control the motion assembly to make the running speed of the robot in the dredging process less than the motion speed of the robot when returning between the working position and the recovery position.

[0014] Further, the motion assembly includes: track, side panel connecting rod, first supporting wheel, second supporting wheel, third supporting wheel, car body and track connecting rod, track side panel;

[0015] The number of third supporting wheels is multiple, forming double-row supporting wheels, double-row supporting wheels are arranged in the track, the volume of first supporting wheel and second supporting wheel is less than that of third supporting wheel, first supporting wheel is connected with side panel connecting rod, second supporting wheel is connected with track side panel, and car body and track connecting rod are used to connect track and car body unit.

[0016] Further, the motion assembly further includes: drive gear, drive gear is located above side panel connecting rod, drive gear is provided with multiple power gears, for adjusting the motion speed of the robot.

[0017] Further, the controller is configured to control the movement assembly to drive the robot at a speed greater than 0 and less than or equal to 0.1 m / s during the robot dredging process, and to drive the robot at a speed of 0.1 m / s-0.5 m / s when the robot is moving between the working position and the recovery position.

[0018] Further, the working unit further comprises a spray pump port located above the vehicle body unit, the spray pump port being connected to the upper spray pump through a hose, and the horizontal direction and vertical direction of the spray pump port being adjusted according to the visualized environment formed by the camera and the lighting device when the robot is working.

[0019] Further, the bucket is connected to the vehicle body unit through a connecting rod, and the connecting rod is connected to the steering gear at one end, so that the bucket rotates around the connecting rod.

[0020] Further, the rotating shaft of the auger is embedded in the two sides of the bucket through a fixing screw.

[0021] Further, the auger is a spiral auger, and the bucket is arc-shaped.

[0022] Further, the vehicle body unit further comprises a laser radar, a depth camera and an IMU sensor,

[0023] The depth camera and the IMU sensor are used for positioning and trajectory calculation, and the real-time position and attitude of the robot are calculated based on a visual inertial slam algorithm; the laser radar is longitudinally installed on the vehicle body unit and is used for scanning the environment around the urban pipeline, and the data scanned by the laser radar is fused with the trajectory calculation result to obtain a three-dimensional point cloud model of the environment, and the three-dimensional point cloud models before and after the robot dredging are compared to evaluate the dredging degree.

[0024] Further, the vehicle body unit further comprises a WiFi transmitter, the mobile phone communicates with the controller through the WiFi transmitter, and the controller is controlled by sending instructions to the controller through the mobile phone to switch the working mode of the robot, control the movement speed of the robot, and control the intensity of water or gas spraying of the robot.

[0025] Overall, the above technical solutions conceived by the present application can achieve the following beneficial effects compared with the prior art:

[0026] (1) The underwater dredging robot for urban pipelines of the present application can realize the removal or crushing of silt accumulated on the pipe bottom for a long time by the cooperation of the reamer and the spade, and convert the original water flow in the pipeline into a high-pressure water column by using the spray pump to flush the silt in front or the silt crushed by the reamer to the downstream centralized processing place, the robot directly uses the sewage flowing in the pipeline, without using external water resources, which can greatly save water resources, and also can greatly save energy without the need for a complex float system for the vehicle body unit, which is beneficial to realize the miniaturization design of the vehicle body, the robot is widely applicable to various pipelines with different water depths, and has high application prospect with flexible operation, small footprint and low cost. The present application can be applied to more different pipeline environments, and in the case of less or no water in the pipeline, the gas spraying method can also effectively remove part of the garbage. The camera arranged at the upper end can enable the operator to more intuitively observe the surrounding environment and the state of the trailer. The front sonar device can detect the surrounding environment in advance to prevent obstacles, and can also be further used to judge the dredging condition. The vehicle body unit can adjust the moving speed of the robot according to the characteristics and height of the obstacle to prevent the obstacle from damaging the bottom structure or restricting the movement of the vehicle body, which can move more flexibly, prevent the vehicle body from being damaged, and greatly improve the safety performance. The vehicle body unit can adjust the moving speed of the robot according to the actual working condition to ensure the working effect while reducing energy consumption.

[0027] (2) The design of the double-row supporting roller in the present application can increase the width of the track, thereby increasing the contact area of the track and the silt and improving the carrying capacity of the silt to prevent the robot from sinking into it. When the supporting roller is connected to the side plate link and the track side plate, the spring shock absorbing structure is increased, which can greatly increase the stability of the vehicle body. The large number of supporting rollers at the bottom can better engage the track and the gear to bear the weight of the robot and prevent the track from sliding sideways. The robot passes through the double-row supporting roller, so that each wheel shares a smaller neutral position and the pressure is more uniform, thereby improving the mobility of the device.

[0028] (3) The driving gear in the present application can be provided with multiple power gears, thereby facilitating the adjustment of the moving speed of the robot according to the actual working condition, for example, low-speed driving during the dredging process, and fast driving when returning between the working position and the recovery position.

[0029] (4) The nozzle of the upper side spray pump in the present application can adjust the direction, which is more conducive to improving the flexibility of the robot during operation; the spray pumps on both sides can clean the road in front of the robot on both sides to prevent it from sinking into the mud and continuing to move forward.

[0030] (5) The bucket in the present application can rotate around the shaft by a certain angle. The rotating shaft of the auger is embedded in the two sides of the bucket through a fixing screw, ensuring that the auger does not contact the bucket and leaving a certain space. The auger is placed in the bucket and separated from the edge of the bucket by a certain distance, which can prevent the auger from directly contacting the pipeline and damaging the pipeline and the robot equipment during operation.

[0031] (6) The spiral form of the auger in the present application can also better lift the mud-water mixture, thereby increasing the efficiency of the operation. The spiral auger used in the present application has a smoother working process compared to the traditional lifting and translating scraper. The front end of the bucket bottom can adopt an arc-shaped scraper form, which can better fit the pipeline, promote the separation of silt from the pipeline surface, and make the vehicle body run more smoothly, while allowing the auger to separate from the pipeline to prevent the auger from damaging the pipeline.

[0032] (7) The depth camera and IMU in the present application are used for positioning and trajectory calculation, and the real-time position and attitude of the robot are calculated based on the visual-inertial slam algorithm. The longitudinal installation of the laser radar is used to scan the environment around the tunnel, and precise trajectory and vertical scanning data are used for fusion to obtain a three-dimensional point cloud model of the environment. In structural deformation detection, the point cloud model obtained is calculated by an algorithm to accurately calculate the structural deformation. If the detection mode is started at the same time as the dredging mode, a point cloud model will be generated before cleaning, and a point cloud model will be generated after cleaning, and the two point cloud models will be compared to evaluate the effectiveness of the dredging. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a perspective view of the underwater dredging robot provided by an embodiment of the present application;

[0034] Figure 2 is a front view of the underwater dredging robot provided by an embodiment of the present application;

[0035] Figure 3 is a right view of the underwater dredging robot provided by an embodiment of the present application;

[0036] Figure 4 is a rear view of the underwater dredging robot provided by an embodiment of the present application;

[0037] Figure 5 is a top view of the underwater dredging robot provided by an embodiment of the present application;

[0038] Figure 6 is a track structure diagram of the underwater dredging robot provided by an embodiment of the present application;

[0039] In all the drawings, the same reference numerals are used to represent the same elements or structures, wherein:

[0040] 1 is a reamer, 2 is a bucket, 3 is a spade, 4 is an upper side jet pump, 5 is a left side jet pump, 6 is a right side jet pump, 7 is a jet pump port, 8 is a hose, 9 is a sonar, 10 is a camera and lighting device, 11 is a motion assembly, 12 is a jet pump tail water inlet, 13 is a vehicle body and track connecting rod, 14 is a first supporting heavy wheel, 15 is a track side panel, 16 is a second supporting heavy wheel, 17 is a side panel vehicle body connecting piece, 18 is a track, 19 is a driving gear, 20 is a side panel connecting rod, and 21 is a third supporting heavy wheel. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0042] The underwater dredging robot is applied to work in a city pipeline, and comprises a working unit and a vehicle body unit.

[0043] As shown in Figure 1 The working unit comprises a reamer 1, a bucket 2, a spade 3, an upper side jet pump 4, a left side jet pump, and a right side jet pump 6. The spiral form of the reamer 1 can also better lift the mud-water mixture, thereby increasing the efficiency of the work.

[0044] The reamer is connected to the bucket, and the whole can be adjusted in up-down working angle by a rudder engine, so that the work is more flexible.

[0045] Preferably, the front end of the bottom of the bucket can adopt an arc surface spade form, which can better fit the pipeline, promote the sludge to separate from the pipeline surface, and make the vehicle body run more smoothly, and at the same time, the reamer can be separated from the pipeline to prevent the reamer from damaging the pipeline.

[0046] The jet pump can directly use the water in the pipeline to form a high-pressure water column, or use air to form a high-pressure air column, directly wash the sludge, and impact the lifted sludge with the reamer, so that the sludge flows downstream along the pipeline. Directly using the water or air in the pipeline solves the problem of serious waste of water resources in the current high-pressure water jet method.

[0047] The jet pump front port can be rotated by a certain angle to make the ejected high-pressure water or high-pressure air column cover more directions, so that the robot is more flexible, the cleaning work capacity is stronger, and the application range is wider.

[0048] Preferably, the jet pump water inlet can be as low as possible to work normally when the water quantity in the pipeline is small.

[0049] Preferably, in the case of no water or less water in the pipeline to provide sufficient water to impact the sludge, the air pump can directly use air to form a high-pressure air flow to impact the sludge, achieving an effect similar to that of a high-pressure water flow.

[0050] The vehicle body unit comprises a camera and lighting device 10, a motion assembly 11, and a sonar 9. The sonar has a wider detection range than the camera under water, can effectively detect the underwater environment, and more accurately determine the sludge position, while avoiding collision between the robot and the pipeline. In combination with the camera, the sonar assembly can be used more when the water in the pipeline is deep, and the visual and lighting assembly can be used more to observe the environment and position when the water in the pipeline is shallow.

[0051] The camera and lighting device 10 are located above the vehicle body unit and can rotate 360 degrees on the horizontal plane. The sonar is fixed to the front of the vehicle body unit.

[0052] The spray pump port 7 installed on the upper side of the vehicle body is connected with the spray pump hose 8.

[0053] Figure 2 is a front view of the underwater sludge dredging robot, Figure 3 is a right view of the underwater sludge dredging robot, Figure 4 is a rear view of the underwater sludge dredging robot, Figure 5 is a top view of the underwater sludge dredging robot. As can be seen, the spray pump installed on the upper side of the vehicle body can adjust the horizontal direction and vertical direction of the spray port, and the spray pumps on the left and right sides are fixed to the vehicle body unit. The spray pump tail water inlet 12 can be provided with a filter screen to prevent the original silt and other substances in the pipeline from entering the spray pump lumen and reducing the jetting pressure of the water column at the outlet or damaging the structure of the spray pump.

[0054] The positions of the sonar 9, camera and lighting device 10 are higher than the working unit of the robot, so that the environment can be better detected.

[0055] Preferably, a protection device is provided in front of the camera and lighting device to prevent damage to the equipment during underwater operation.

[0056] Preferably, a cleaning device is provided in front of the camera and lighting device to prevent sludge or other stains during operation from affecting the operator's observation of the environment and causing the robot to lose working ability.

[0057] Preferably, a diving lamp for assisting lighting can be provided on the lower vehicle body.

[0058] Preferably, an angle sensor is installed on the lower vehicle body to detect the forward inclination or backward inclination angle of the entire vehicle body unit. If the forward inclination angle is too large, the rotation of the cutter can be stopped to prevent damage to the pipeline and the body.

[0059] Preferably, a WiFi transmitter can be mounted on the lower vehicle body, and the mobile phone can communicate with it through the app to control the movement of the sewage plant sediment cleaning robot or receive and view the data transmitted by the various vehicle-mounted devices.

[0060] Preferably, the mobile phone program can be used to switch the working mode and control the movement speed of the robot and the water or air spraying force.

[0061] Preferably, a pressure sensor is also provided on the lower vehicle body to detect the underwater pressure.

[0062] As shown in Figure 6 The main part of the vehicle body unit adopts a tracked vehicle form, including a track 18, a drive gear 19, a side plate connecting rod 20, a supporting wheel 21, a vehicle body and track connecting rod 13, a small supporting wheel 14 / 16, a track side plate 15, and a side plate vehicle body connecting piece 17.

[0063] The design of double-row supporting wheels can increase the width of the track, thereby increasing the contact area of the track and the sludge and improving the carrying capacity of the sludge to prevent the robot from sinking into it. When the supporting wheel and the side plate connecting rod 20 and the track side plate 15 are connected, a spring shock absorbing structure is added, which can greatly increase the stability of the vehicle body.

[0064] The large number of supporting wheels 21 at the bottom can better engage the track and gear to bear the weight of the robot and prevent the track from sliding sideways.

[0065] The robot passes through the double-row supporting wheels, so that each wheel shares a smaller neutral position and the pressure is more uniform, thereby improving the mobility of the device.

[0066] The drive gear 19 can be provided with multiple power gears, so as to facilitate adjustment of the movement speed of the robot according to the actual working conditions, for example, low-speed driving during dredging and fast driving when returning between the working position and the recovery position.

[0067] The sonar 9 can clearly detect the characteristics and height of the underwater obstacles, and the vehicle body unit can change the chassis height according to the characteristics of the obstacles to prevent the obstacles from damaging the bottom structure or restricting the movement of the vehicle body.

[0068] The movement speed gear of the robot and the working mode in different environments can be controlled through the mobile phone program, so as to facilitate adjustment of the movement speed of the robot according to the actual working conditions, for example, low-speed driving during dredging and fast driving when returning between the working position and the recovery position. When adjusting the working mode, in the pipeline with shallow water depth or even no water, the air spraying mode can be used instead of the water spraying mode for cleaning work. The low speed is below 0.1 m / s, and the high speed is 0.1 m / s-0.5 m / s.

[0069] The present application provides an underwater dredging robot suitable for urban pipelines, which cleans underwater sludge through a method of operation of a small robot (i.e., a work unit + a vehicle body unit). Without the large water jet vehicle winch in the prior art, without manual well completion in harsh environments, and without a complex snorkel system for the vehicle body, the vehicle body can be miniaturized, further improving operational flexibility. Continuous underwater operation can be achieved. At the same time, the surrounding sludge conditions can be detected by sonar to quickly find the location with the most sludge for dredging. Sonar has a wider detection range than a camera underwater, which can effectively avoid obstacles and prevent damage to the bottom structure. The miniaturized robot can further reduce power consumption and energy waste. At the same time, multiple gears are provided for robot movement, which can be controlled through a mobile phone program, allowing the working mode to be freely switched to flexibly adapt to different scenarios and different dredging needs.

[0070] Regarding the work unit aspect: the reamer of the work unit can further disperse and flush the sludge out of the pipeline by high-pressure water sprayed by the spray pump while lifting the sludge. Compared with the traditional lifting and translating scraper, the spiral reamer has a smoother working process, and the reamer located inside the bucket can effectively prevent damage to the bottom pipeline.

[0071] Regarding the vehicle body structure aspect: the vehicle body structure is streamlined, which can better walk underwater. The camera provided at the upper end can allow the operator to more intuitively observe the surrounding environment and the state of the trailer. The sonar device at the front can detect the surrounding environment in advance to prevent obstacles, and can also be further used to judge the dredging condition.

[0072] Regarding the track structure aspect: the structure of the two rows of supporting wheels can increase the width of the track to increase the stability of the robot moving in water. The springs connecting the supporting wheels and the side plates can effectively increase the shock absorption performance of the robot to ensure the smooth operation of the robot in underwater environment. The drive gear is divided into multiple power gears, which can allow the robot to move underwater at different speeds.

[0073] Embodiment 1

[0074] The underwater dredging robot comprises a work unit and a vehicle body unit, the work unit comprises a reamer, a bucket, a shovel, an upper side spray pump, a left side spray pump, a right side spray pump, and an air pump, and the vehicle body unit comprises a camera and lighting equipment, a motion assembly, and a sonar; wherein the number of air pumps is N, N≥1, the air pump is located below the vehicle body, the vehicle body unit further comprises a three-dimensional laser radar, a depth camera, and an IMU sensor, the depth camera is located above the vehicle body,

[0075] The robot works in a dredging mode, an obstacle crossing mode, or a detection mode.

[0076] The dredging mode is mainly to calculate the silt depth and obstacle size through sonar scanning first, and if the silt in front exceeds the set dredging threshold, the dredging work will start, and the air pump below will spray gas downward to impact the silt again, which can effectively increase the jetting force and also lift the vehicle body, reducing the resistance of movement,

[0077] The obstacle avoidance mode is mainly to determine the height of the front obstacle and the position of the upper pipe wall through sonar, and then use the hydraulic rod on the vehicle body (located in the movement assembly) to control the lifting of the vehicle body to prevent touching. The height of the obstacle below is determined to try to lift the vehicle body to avoid it. If the upper detection instrument finds that the vehicle body will touch the upper pipe wall, it will stop lifting, and then the sonar scans the left and right environment to try to move left and right to find a suitable position to move forward. If it still cannot, it will back up and return to the original path or manually move back

[0078] The detection mode is to complete the pipeline reconstruction, detection, analysis and other operation and maintenance tasks in the pipe cavity. It has the functions of rapid construction of pipe point cloud model, cross section deformation analysis, tunnel defect identification. Through the fusion of point cloud model and visual information, the tunnel disease positioning is realized. The depth camera and IMU are used for positioning and trajectory calculation, and the visual-inertial slam algorithm is used to calculate the real-time position and attitude of the robot. The laser radar is longitudinally installed for scanning the environment around the tunnel, and the precise trajectory and vertical scanning data are fused to obtain the three-dimensional point cloud model of the environment. In the structure deformation detection, the point cloud model obtained is calculated by algorithm to accurately calculate the structure deformation. In the disease detection, based on the fusion model of deep convolutional neural network, the deep residual network is used in the pre-processing stage to improve the SSD model for disease classification and positioning, and the U-Net model is used in the post-processing stage for crack image segmentation and feature extraction. If the dredging mode is started at the same time as the detection mode, a point cloud model will be generated before cleaning and a point cloud model will be generated after cleaning, and the two point cloud models will be compared to evaluate the effectiveness of dredging.

[0079] The mode switching mode includes automatic switching and manual switching.

[0080] For manual switching: it can be determined according to the needs and the needs of the staff. If the pipeline needs to be reconstructed, detected and analyzed, the detection mode is adopted; if the silt needs to be cleaned, the dredging mode is adopted; if the vehicle needs to move quickly in the tunnel to reach the destination, the obstacle avoidance mode is adopted.

[0081] For automatic switching: mainly automatic switching between dredging mode and obstacle avoidance mode, and at the same time, in the detection mode, the analysis and comparison of the pipeline before cleaning and the pipeline after cleaning can know the cleaning condition. In the state of dredging mode, first try to break the front obstacle by the reamer, if it cannot be broken, switch to obstacle avoidance mode to leave the current nearest obstacle in front, and then enter the state of dredging mode, and so on.

[0082] Those skilled in the art will easily understand that the above description is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater dewatering operation robot for urban pipelines, characterized by, The utility model relates to a kind of robot for cleaning urban pipeline, including: Job unit and car body unit; The job unit includes: auger (1), bucket (2), spade (3), upper side spray pump (4), left side spray pump (5), right side spray pump (6) and air pump, the auger (1) is located inside bucket (2), spade (3) is installed at the bottom of bucket (2) front end, auger (1), spade (3), bucket (2) are installed as a whole on car body unit, upper side spray pump (4), left side spray pump (5) and right side spray pump (6) are installed on the upper side, left side and right side of car body unit respectively, air pump is installed at the bottom of car body unit, and air pump is used to replace water spray mode with air spray mode to carry out cleaning work when water depth in urban pipeline is less than preset value; The car body unit includes: sonar (9), camera and lighting equipment (10), motion assembly (11) and controller, the motion assembly (11) is located below the car body, and the controller communicates with sonar (9) and motion assembly (11); The sonar (9) is used to detect the characteristics and height of obstacles underwater; The camera and lighting equipment (10) are used to illuminate the working environment and take pictures of the working environment when the robot is working, so that the robot works in a visual environment; The controller is used to control the motion assembly (11) to make the chassis height of the car body unit higher than the height of the obstacle after receiving the characteristics and height of the obstacle, and control the motion assembly (11) to make the running speed of the robot in the dredging process less than the motion speed of the robot when it moves between the working position and the recovery position; The car body unit further includes: laser radar, depth camera and IMU sensor, The depth camera and IMU sensor are used for positioning and trajectory solving, and the real-time position and attitude of the robot are calculated based on a visual inertial slam algorithm;The laser radar is longitudinally installed on the car body unit for scanning the environment around the urban pipeline, and the data scanned by the laser radar is fused with the trajectory solving result to obtain a three-dimensional point cloud model of the environment, and the three-dimensional point cloud models before and after dredging are compared to evaluate the dredging degree; The robot works in dredging mode, obstacle crossing mode or detection mode; In dredging mode, the sonar is used to scan and calculate the silt depth and obstacle size, and if the silt in front exceeds the set dredging threshold, the robot starts dredging work, and the air pump below sprays gas downward to impact the silt again; In obstacle crossing mode, the sonar is used to judge the height of the obstacle in front and the position of the upper pipe wall, and then the hydraulic rod in the motion assembly is used to control the lifting of the car body to prevent touching, the height of the obstacle below is judged to lift the car body to avoid, if the upper detection instrument finds that the car body will touch the upper pipe wall, the lifting is stopped, then the sonar scans the left and right environment, and moves left and right to find a position to move forward, if it still cannot move forward, it returns along the original path or manually moves back. The detection mode is a pipeline reconstruction, detection and analysis operation and maintenance task for the pipe cavity, has the functions of rapid construction of pipeline point cloud model, cross section deformation analysis and tunnel defect identification, realizes tunnel disease positioning by fusing point cloud model and visual information, uses depth camera and IMU for positioning and trajectory calculation, calculates real-time position and attitude of the robot based on visual-inertial slam algorithm; the laser radar is longitudinally installed for scanning the environment around the tunnel, precise trajectory and vertical scanning data are fused to obtain a three-dimensional point cloud model of the environment, in structure deformation detection, the obtained point cloud model is calculated by algorithm to accurately calculate the structure deformation, in disease detection, based on the fusion model of deep convolutional neural network, the SSD model is improved by using deep residual network in the pre-processing stage to classify and locate the diseases, and the U-Net model is used in the post-processing stage to segment and extract features of the crack image, if the dredging mode is started at the same time, a point cloud model is generated before cleaning, a point cloud model is generated after cleaning, and the two point cloud models are compared to evaluate the effectiveness of dredging.

2. An underwater dewatering robot for use in urban pipelines as claimed in claim 1, characterized in that, The motion assembly (11) comprises a track, a side panel connecting rod, a first supporting wheel, a second supporting wheel, a third supporting wheel, a vehicle body and track connecting rod, and a track side panel. The third supporting wheel is in the form of double rows of supporting wheels, and the first supporting wheel and the second supporting wheel are smaller in size than the third supporting wheel.

3. An underwater dewatering robot for use in urban pipelines as claimed in claim 2, characterized in that, The motion assembly (11) further comprises a driving gear, which is located above the side panel connecting rod and is provided with multiple power gears for adjusting the speed of the robot.

4. An underwater dewatering robot for use in urban pipelines according to any one of claims 1-3, characterized in that, The controller is configured to control the motion assembly (11) to drive the robot at a speed greater than 0 and less than or equal to 0.1 m / s during the robot dredging process, and to control the motion assembly (11) to drive the robot at a speed of 0.1 m / s to 0.5 m / s when the robot moves between the working position and the recovery position.

5. An underwater dewatering robot for use in urban pipelines according to any one of claims 1-3, characterized in that, The working unit further comprises a spray pump port (7) located above the vehicle body unit, which is connected to the upper spray pump (4) through a hose (8).

6. An underwater dewatering robot for use in urban pipelines as claimed in any one of claims 1 to 3, characterized in that, The shovel (2) is connected to the vehicle body unit through a connecting rod and connected to a steering gear at one end of the connecting rod, so that the shovel (2) rotates around the connecting rod.

7. An underwater dewatering robot for use in urban pipelines as claimed in any one of claims 1 to 3, characterized in that, The rotating shaft of the reamer (1) is embedded in the two sides of the shovel (2) through a fixing screw.

8. An underwater dewatering robot for use in urban pipelines as claimed in any one of claims 1 to 3, characterized in that, The reamer (1) is a spiral reamer, and the shovel (3) is arc-shaped.

9. An underwater dewatering robot for use in urban pipelines as claimed in any one of claims 1 to 3, characterized in that, The vehicle body unit further comprises a WiFi transmitter, and the mobile phone communicates with the controller through the WiFi transmitter, sends instructions to the controller through the mobile phone, switches the working mode of the robot, controls the speed of the robot, and controls the intensity of water or gas spraying.

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